CN113885319A - Method, device and equipment for controlling vehicle confluence and storage medium - Google Patents
Method, device and equipment for controlling vehicle confluence and storage medium Download PDFInfo
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Abstract
The application relates to a control method, a device, equipment and a storage medium for vehicle confluence, belonging to the technical field of vehicle control. The method comprises the following steps: acquiring a real-time inter-vehicle distance between a target vehicle and a vehicle ahead of the target vehicle; acquiring a real-time expected vehicle distance between a target vehicle and a previous vehicle; calculating a real-time vehicle distance error value according to the real-time vehicle distance and the real-time expected vehicle distance; and determining the real-time driving force of the target vehicle according to the real-time inter-vehicle distance error value, and controlling the target vehicle to operate based on the real-time driving force so as to adjust the real-time inter-vehicle distance error value, wherein the adjusted real-time inter-vehicle distance error value is within a preset error range. The control method for vehicle confluence can improve the accuracy of vehicle confluence control.
Description
Technical Field
The invention relates to the technical field of vehicle control, in particular to a method, a device, equipment and a storage medium for controlling vehicle confluence.
Background
The confluence area of the vehicle passing road is an area where vehicle traffic jam and traffic accidents frequently occur, and data show that the jam of the expressway mostly occurs at a ramp junction where vehicles meet, and the accident rate at the ramp junction is 4.5 times that of other road sections, so that a control method for controlling the vehicle passing in the confluence area is urgently needed.
The traditional control method for traffic flow confluence generally uniformly regulates and controls the traffic of vehicles through manpower or traffic police according to the traffic condition of a confluence point, and has the problem of low control accuracy.
Disclosure of Invention
In view of the above, it is necessary to provide a vehicle merging control method that can improve the accuracy of vehicle merging control.
In a first aspect of the embodiments of the present application, a method for controlling vehicle merging is provided, where the method is used in a target vehicle located in a road merging area, and the method includes:
acquiring a real-time inter-vehicle distance between a target vehicle and a vehicle ahead of the target vehicle; acquiring a real-time expected vehicle distance between a target vehicle and a previous vehicle; calculating a real-time vehicle distance error value according to the real-time vehicle distance and the real-time expected vehicle distance; and determining the real-time driving force of the target vehicle according to the real-time inter-vehicle distance error value, and controlling the target vehicle to operate based on the real-time driving force so as to adjust the real-time inter-vehicle distance error value, wherein the adjusted real-time inter-vehicle distance error value is within a preset error range.
In one embodiment, obtaining a real-time inter-vehicle distance between a target vehicle and a vehicle preceding the target vehicle comprises: acquiring real-time position information of a target vehicle; acquiring real-time position information of a previous vehicle and the length of a vehicle body of the previous vehicle; and obtaining the real-time inter-vehicle distance according to the real-time position information of the previous vehicle, the length of the previous vehicle body and the real-time position information of the target vehicle.
In one embodiment, before obtaining the real-time position information of the previous vehicle and the body length of the previous vehicle, the method further comprises: receiving a vehicle passing sequence in a road merging area sent by roadside intelligent equipment; determining a previous vehicle according to the vehicle passing sequence; correspondingly, the real-time position information of the previous vehicle and the length of the vehicle body of the previous vehicle are obtained, and the method comprises the following steps: after the previous vehicle is determined, information broadcast by the previous vehicle is extracted from the information broadcast by each vehicle, and the information broadcast by the previous vehicle comprises real-time position information of the previous vehicle and the length of the body of the previous vehicle.
In one embodiment, the road merging area comprises a merging point, and the acquisition of the vehicle passing sequence comprises: the method comprises the steps that roadside intelligent equipment obtains real-time position information of vehicles on lanes in a road merging area; calculating the confluence distance between each vehicle and the confluence point by the roadside intelligent equipment according to the real-time position information of each vehicle and the position information of the confluence point; and the roadside intelligent equipment sequences all vehicles according to the sequence of the confluence distance from small to large to obtain the vehicle passing sequence.
In one embodiment, obtaining a real-time desired inter-vehicle distance of a target vehicle and a preceding vehicle comprises: and acquiring the real-time expected distance between vehicles according to the real-time position information of the target vehicle and the pre-constructed expected distance between vehicles function.
In one embodiment, the road merging area comprises a starting boundary and a merging point, and the construction process of the expected inter-vehicle distance function comprises the following steps: acquiring position information and a confluence point of an initial boundary; constructing an expected inter-vehicle distance function according to the position information of the initial boundary, the position information of the confluence point and a preset expected inter-vehicle distance value; or constructing an expected inter-vehicle distance function according to the position information of the starting boundary, the position information of the confluence point, the actual inter-vehicle distance of the target vehicle on the starting boundary and a preset expected inter-vehicle distance value.
In one embodiment, determining the real-time driving force of the target vehicle based on the real-time inter-vehicle distance error value comprises: and inputting the real-time inter-vehicle distance error value into a pre-established driving force control model to obtain real-time driving force.
In one embodiment, inputting the real-time inter-vehicle distance error value to a pre-created drive force control model comprises: bijective transformation is carried out on the real-time inter-vehicle distance error value to obtain an error state transformation equation; determining a vehicle position equation of the target vehicle according to the error state change equation, the real-time position information of the previous vehicle, the real-time expected inter-vehicle distance and the length of the vehicle body of the previous vehicle; obtaining a vehicle system function according to a vehicle position equation and a preset vehicle longitudinal dynamics equation; and inputting the vehicle system function into a driving force control model to obtain real-time driving force.
In one embodiment, the vehicle system function including the uncertainty parameter is input to a driving force control model, comprising: decomposing the uncertainty parameters into nominal parameters and time-varying parameters according to the uncertainty parameters in the vehicle system functions to obtain a plurality of parameter equations, wherein the uncertainty parameters comprise: vehicle mass, vehicle aerodynamic drag coefficient, and vehicle integrated drag; inputting a plurality of parameter equations into a vehicle system function to obtain a vehicle time-varying system function; the vehicle time-varying system function is input to the driving force control model.
In one embodiment, the creation process of the driving force control model includes: and establishing a driving force control model according to the vehicle time-varying system function, the Udwadia-Kalaba model, the feedback control model and the robust control model.
In a second aspect of the embodiments of the present application, there is provided a control apparatus for vehicle merge, the apparatus including:
the first acquisition module is used for acquiring the real-time inter-vehicle distance between a target vehicle and a vehicle ahead of the target vehicle;
the second acquisition module is used for acquiring the real-time expected vehicle distance between the target vehicle and the previous vehicle;
the calculation module is used for calculating a real-time vehicle distance error value according to the real-time vehicle distance and the real-time expected vehicle distance;
and the control module is used for determining the real-time driving force of the target vehicle according to the real-time inter-vehicle distance error value and controlling the target vehicle to operate on the basis of the real-time driving force so as to adjust the real-time inter-vehicle distance error value, wherein the adjusted real-time inter-vehicle distance error value is within a preset error range.
In a third aspect of embodiments of the present application, there is provided a computer device, including: a memory storing a computer program that when executed by the processor implements a method of controlling a vehicle merge according to any one of the claims.
In a fourth aspect of the embodiments of the present application, there is provided a computer-readable storage medium having a computer program stored thereon, where the computer program is executed by a processor to implement the method for controlling a vehicle merge according to any one of the first aspect of the embodiments of the present application.
The beneficial effects brought by the technical scheme provided by the embodiment of the application at least comprise:
the method comprises the steps of obtaining a real-time expected vehicle distance between a target vehicle and a previous vehicle of the target vehicle by obtaining the real-time vehicle distance between the target vehicle and the previous vehicle, calculating a real-time vehicle distance error value according to the real-time vehicle distance and the real-time expected vehicle distance, determining a real-time driving force of the target vehicle according to the real-time vehicle distance error value, and controlling the target vehicle to run based on the real-time driving force to adjust the real-time vehicle distance error value, wherein the adjusted real-time vehicle distance error value is within a preset error range. The vehicle confluence control method provided by the embodiment of the application can determine the real-time driving force of a target vehicle according to the real-time inter-vehicle distance error value of the vehicle, and control the target vehicle to run based on the real-time driving force so as to adjust the real-time inter-vehicle distance error value, and the adjusted workshop is located in a preset error range according to the error value, so that the vehicle can safely pass through a confluence area with a preset expected inter-vehicle distance, and the accuracy of vehicle confluence control can be improved.
Drawings
FIG. 1 is a flowchart of a method for controlling vehicle merging according to an embodiment of the present disclosure;
FIG. 2 is a schematic illustration of a vehicle merge area provided by an embodiment of the present application;
fig. 3 is a technical process for obtaining a real-time inter-vehicle distance between a target vehicle and a vehicle before the target vehicle according to an embodiment of the present application;
FIG. 4 is a technical process for constructing a desired inter-vehicle distance function provided by an embodiment of the present application;
FIG. 5 is a schematic diagram of a desired inter-vehicle distance function provided in an embodiment of the present application;
fig. 6 is a technical process of inputting a real-time inter-vehicle distance error value into a pre-created driving force control model according to an embodiment of the present application;
fig. 7 is a technical process for inputting vehicle system functions into a driving force control model according to an embodiment of the present application;
FIG. 8 shows the position of each vehicle in the road merging area from the merging point at different times according to the embodiment of the present application;
FIG. 9 is an actual inter-vehicle distance of each vehicle in a road confluence area at different times, which is provided by an embodiment of the present application;
FIG. 10 shows inter-vehicle distance errors of vehicles in a road junction area at different times according to an embodiment of the present application;
FIG. 11 shows driving forces of vehicles in a road merging area at different times according to an embodiment of the present application;
FIG. 12 is a vehicle speed of each vehicle in a road merging area at different times, according to an embodiment of the present application;
FIG. 13 is a vehicle acceleration at different times for each vehicle in a road merging area, according to an embodiment of the present application;
fig. 14 is a structural diagram of a control device for vehicle confluence provided in an embodiment of the present application;
fig. 15 is a schematic internal structural diagram of a computer device according to an embodiment of the present application.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
The confluence area of the vehicle passing road is an area where vehicle traffic jam and traffic accidents frequently occur, and data show that the jam of the expressway mostly occurs at a ramp junction where vehicles meet, and the accident rate at the ramp junction is 4.5 times that of other road sections, so that a control method for controlling the vehicle passing in the confluence area is urgently needed.
The traditional control method for traffic flow confluence generally uniformly regulates and controls the traffic of vehicles through manpower or traffic police according to the traffic condition of a confluence point, and has the problem of low control accuracy.
In view of the above, it is necessary to provide a method for controlling a vehicle merge, which can improve the efficiency of controlling the vehicle merge.
The embodiment of the application provides a vehicle confluence control method, which comprises the steps of obtaining a real-time vehicle distance between a target vehicle and a previous vehicle of the target vehicle, obtaining a real-time expected vehicle distance between the target vehicle and the previous vehicle, calculating a real-time vehicle distance error value according to the real-time vehicle distance and the real-time expected vehicle distance, determining a real-time driving force of the target vehicle according to the real-time vehicle distance error value, and controlling the target vehicle to run based on the real-time driving force to adjust the real-time vehicle distance error value, wherein the adjusted real-time vehicle distance error value is within a preset error range. The vehicle confluence control method provided by the embodiment of the application can determine the real-time driving force of the target vehicle according to the real-time inter-vehicle distance error value of the vehicle, and control the target vehicle to run based on the real-time driving force so as to adjust the real-time inter-vehicle distance error value, and the adjusted workshop is located in the preset error range according to the error value, so that the vehicle can safely pass through a confluence area at the preset expected inter-vehicle distance, and the accuracy of vehicle confluence control can be improved.
The following describes the technical solutions of the present application and how to solve the above technical problems with specific examples. The following several specific embodiments may be combined with each other, and details of the same or similar concepts or processes may not be repeated in some embodiments. Embodiments of the present application will be described below with reference to the accompanying drawings.
Referring to fig. 1, a flowchart of a vehicle confluence control method according to an embodiment of the present application is shown, where the method includes the following steps:
The target vehicle is any vehicle in the vehicle confluence area, and the previous vehicle is the previous vehicle which is far away from the confluence point of the confluence area of the target vehicle.
Optionally, the obtaining of the real-time inter-vehicle distance between the target vehicle and the vehicle ahead of the target vehicle may be: and after the target vehicle establishes communication connection with the previous vehicle, receiving the vehicle position information sent by the previous vehicle in real time, and calculating the real-time vehicle distance by the target vehicle according to the real-time vehicle position information of the previous vehicle and the real-time vehicle position information of the target vehicle.
102, acquiring a real-time expected vehicle distance between a target vehicle and a previous vehicle;
alternatively, the real-time desired inter-vehicle distance may be set by the user based on an inter-vehicle distance that may safely pass through the merge area.
And 103, calculating a real-time vehicle distance error value according to the real-time vehicle distance and the real-time expected vehicle distance.
Optionally, an absolute value of a difference between the real-time inter-vehicle distance and the corresponding real-time expected inter-vehicle distance may be used as the real-time inter-vehicle distance error value.
And step 104, determining the real-time driving force of the target vehicle according to the real-time inter-vehicle distance error value, and controlling the target vehicle to operate on the basis of the real-time driving force so as to adjust the real-time inter-vehicle distance error value.
And the adjusted real-time inter-vehicle distance error value is within a preset error range.
In practice, the real-time driving force of the target vehicle is determined according to the real-time inter-vehicle distance error value, and the target vehicle is controlled to operate based on the real-time driving force so as to adjust the real-time inter-vehicle distance error value, so that the error after the driving force is adjusted is within the preset error range.
In one embodiment, the cruise control mode is switched to the confluence control mode when the vehicle enters the communication area of the roadside intelligent device, and the cruise control mode is switched to the confluence control mode after the vehicle passes through the confluence point of the confluence area.
As shown in fig. 2, a schematic diagram of a vehicle merging area is provided in an embodiment of the present application, and the embodiment of the present application provides a vehicle merging control method, where a real-time inter-vehicle distance between a target vehicle and a vehicle ahead of the target vehicle is obtained, a real-time expected inter-vehicle distance between the target vehicle and the vehicle ahead is obtained, a real-time inter-vehicle distance error value is calculated according to the real-time inter-vehicle distance and the real-time expected inter-vehicle distance, a real-time driving force of the target vehicle is determined according to the real-time inter-vehicle distance error value, and the target vehicle is controlled to operate based on the real-time driving force to adjust the real-time inter-vehicle distance error value, where the adjusted real-time inter-vehicle distance error value is within a preset error range. The vehicle confluence control method provided by the embodiment of the application can determine the real-time driving force of the target vehicle according to the real-time inter-vehicle distance error value of the vehicle, and control the target vehicle to run based on the real-time driving force so as to adjust the real-time inter-vehicle distance error value, and the adjusted workshop is located in the preset error range according to the error value, so that the vehicle can safely pass through a confluence area at the preset expected inter-vehicle distance, and the accuracy of vehicle confluence control can be improved.
Referring to fig. 3, a flow chart of a technical process for obtaining a real-time inter-vehicle distance between a target vehicle and a vehicle in front of the target vehicle is shown, which includes the following steps:
301. and acquiring real-time position information of the target vehicle.
302. And acquiring real-time position information of the previous vehicle and the length of the previous vehicle body.
Optionally, the obtaining the real-time position information of the previous vehicle and the length of the vehicle body of the previous vehicle includes: the transmitted real-time position information of the preceding vehicle and the body length of the preceding vehicle are received.
303. And obtaining the real-time inter-vehicle distance according to the real-time position information of the previous vehicle, the length of the previous vehicle body and the real-time position information of the target vehicle.
In practice, the real-time inter-vehicle distance may be calculated by subtracting the real-time position information of the previous vehicle and the vehicle body length of the previous vehicle from the real-time position information of the target vehicle.
The real-time inter-vehicle distance error value can be obtained by calculating the real-time inter-vehicle distance and the real-time expected inter-vehicle distance, then the real-time driving force of the target vehicle is determined according to the real-time inter-vehicle distance error value, the target vehicle is controlled to run based on the real-time driving force, the real-time inter-vehicle distance error value is adjusted, and the adjusted inter-vehicle distance error value is located in a preset error range, so that the vehicle can safely pass through a confluence area at the preset expected inter-vehicle distance, and the accuracy of vehicle confluence control can be improved.
In one embodiment, the technical process prior to obtaining the real-time position information of the previous vehicle and the body length of the previous vehicle comprises: receiving a vehicle passing sequence in a road merging area sent by roadside intelligent equipment; and determining the previous vehicle according to the vehicle passing sequence.
Correspondingly, the real-time position information of the previous vehicle and the length of the vehicle body of the previous vehicle are obtained, and the method comprises the following steps: after the previous vehicle is determined, information broadcast by the previous vehicle is extracted from the information broadcast by each vehicle, and the information broadcast by the previous vehicle comprises real-time position information of the previous vehicle and the length of the body of the previous vehicle.
Specifically, an actual inter-vehicle distance d between the ith vehicle and the preceding vehicle is definediAs follows:
di(t)＝xi-1(t)-xi(t)-li-1
wherein li-1Is the body length of the i-1 st vehicle.
It should be noted that the previous vehicle is determined according to a vehicle passing sequence, where the vehicle passing sequence is sent by the roadside intelligent device.
Specifically, the vehicle passing sequence obtaining process comprises the following steps: the method comprises the steps that roadside intelligent equipment obtains real-time position information of vehicles on lanes in a road merging area; calculating the confluence distance between each vehicle and the confluence point by the roadside intelligent equipment according to the real-time position information of each vehicle and the position information of the confluence point; and the roadside intelligent equipment sequences all vehicles according to the sequence of the confluence distance from small to large to obtain the vehicle passing sequence. The virtual vehicle fleet is obtained by sequencing the vehicles according to the sequence of the confluence distance from small to large, and the actual distance between each vehicle and the front vehicle in the virtual vehicle fleet can be converged to a specified range at a specified spatial position. By designating the desired inter-vehicle distance of each vehicle as a desirable safe inter-vehicle distance at the confluence point location, the traffic safety of the vehicles in the confluence area can be strictly ensured.
That is, the vehicle passing order is determined by sorting the vehicles on the respective lanes of the vehicle merging area from small to large distances from the merging point, and therefore, in practice, the vehicle ahead of the target vehicle may be the vehicle ahead of the vehicle on which the target vehicle is located, or may be the vehicle on another lane.
According to the embodiment of the application, the real-time position information of each vehicle on each lane in the road confluence area is obtained, the confluence distance between each vehicle and the confluence point is calculated according to the real-time position information of each vehicle and the position information of the confluence point, the vehicles are sequenced according to the sequence of the confluence distance from small to large to obtain the vehicle passing sequence, the vehicle ahead of the target vehicle is determined according to the vehicle passing sequence, all vehicles in the confluence area can be uniformly controlled, the vehicle congestion phenomenon at the confluence point of the confluence area is avoided, and the accuracy of vehicle confluence control can be improved.
In one embodiment, obtaining a real-time desired inter-vehicle distance of a target vehicle and a preceding vehicle comprises:
and acquiring the real-time expected distance between vehicles according to the real-time position information of the target vehicle and the pre-constructed expected distance between vehicles function.
Referring to fig. 4, fig. 4 shows a technical process of constructing a desired inter-vehicle distance function provided by an embodiment of the present application, where a road merging area includes a starting boundary and a merging point, and includes the following steps:
And step 402, constructing an expected inter-vehicle distance function according to the position information of the starting boundary, the position information of the confluence point and a preset expected inter-vehicle distance value.
It should be noted that the expected inter-vehicle distance function may be constructed according to the position information of the start boundary, the position information of the confluence point, and a preset expected inter-vehicle distance value; the expected inter-vehicle distance function can also be constructed according to the position information of the starting boundary, the position information of the confluence point, the actual inter-vehicle distance of the target vehicle on the starting boundary and a preset expected inter-vehicle distance value.
In practice, x is designed for the i-th vehicle according to the spatial position of the confluence areaiDesired inter-vehicle distance
The function S (-) should be designed to satisfy the following two boundary conditions:
Si(xm)＝dc
wherein the content of the first and second substances,
is the position of the ith vehicle at the starting boundary,
is the actual inter-vehicle distance, x, between the ith vehicle and the preceding vehicle at the starting boundarymIs the position of the confluence point, dcIs a preset interflow expected inter-vehicle distance value. By configuration dcThe converging safety of the vehicle can be ensured by converging the actual distance between the vehicles reaching the converging point to the vicinity of the expected distance by means of the subsequent driving force control.
In the boundary conditions, the first boundary condition defines the expected inter-vehicle distance of the vehicle at the initial boundary as the actual inter-vehicle distance of the initial boundary, so that the phenomena of rapid acceleration or rapid braking and the like caused by too large or too small inter-vehicle distance in the just-entering confluence area can be avoided; the second boundary condition defines a desired inter-vehicle distance of the vehicle at the merge point as a safe inter-vehicle distance to ensure that the vehicle can safely pass through the merge area.
At the same time, define the inter-vehicle distance error eiTo account for the difference in the expected inter-vehicle distance and the actual inter-vehicle distance at position x:
the main objective of the embodiments of the present application is to control the error within a certain safety range, specifically, the control objective is to make:
emin≤ei≤emax
in addition, the function S (-) focuses on the characteristic of space depending on the merge area, and the specific form is flexible to select, and here, a triangular sine function can be selected, as shown in fig. 5, which is a schematic diagram of an expected inter-vehicle distance function provided for the embodiment of the present application, wherein the abscissa of the expected inter-vehicle distance function is the position information from the start boundary of the merge area to the merge point, and the ordinate of the expected inter-vehicle distance function is the value of the expected inter-vehicle distance, where x is0Position information of the start boundary of the confluence region, xmAs the position information of the confluence point,
actual inter-vehicle distance of target vehicle at initial boundary of confluence area, dcAnd the expected inter-vehicle distance value is a preset interflow expected inter-vehicle distance value.
Wherein, each parameter is as follows:
according to the embodiment of the application, the expected inter-vehicle distance function attached to the space of the confluence area is constructed, the expected inter-vehicle distance of the confluence area at different positions can be obtained, inter-vehicle distance errors of different positions can be calculated according to the expected inter-vehicle distance and corresponding actual inter-vehicle distance of different positions, and the inter-vehicle distance errors of different positions of the confluence area are controlled to be within a preset error range until a vehicle passes through the confluence area. Compared with the effect of controlling the running time of the vehicle in the confluence area to ensure that the vehicle safely passes through the confluence area, the control method for vehicle confluence provided by the embodiment of the application is used for controlling the inter-vehicle distance error of each position of the confluence area, so that the control accuracy is higher.
In one embodiment, determining the real-time driving force of the target vehicle based on the real-time inter-vehicle distance error value comprises: and inputting the real-time inter-vehicle distance error value into a pre-established driving force control model to obtain real-time driving force.
Referring to fig. 6, fig. 6 shows a technical process of inputting a real-time inter-vehicle distance error value into a pre-created driving force control model according to an embodiment of the present application, including the following steps:
601, performing bijection transformation on the real-time inter-vehicle distance error value to obtain an error state transformation equation;
603, obtaining a vehicle system function according to a vehicle position equation and a preset vehicle longitudinal dynamics equation;
and step 604, inputting a vehicle system function into the driving force control model to obtain real-time driving force.
In practice, set emax＝-eminE is equal to k, eiConversion to z by bijective transformationiAnd obtaining an error state transformation equation, wherein the specific error state transformation equation is as follows:
the inverse transformation function of the state transform is:
defining an inverse transformation function fi -1First and second order partial derivatives of (d):
through state transformation, a vehicle position equation of the target vehicle can be obtained:
the equation is derived by differentiating the time twice on both sides simultaneously:
therefore, the temperature of the molten metal is controlled,
wherein the content of the first and second substances,
v is to beiAnd
substituting the vehicle dynamics equation, and further arranging to obtain a vehicle system function:
wherein the vehicle dynamics equation is:
wherein t is time, xiIs the vehicle position, viIs the velocity, σiAs a set of uncertainty parameters (σ)i∈∑i，∑iIs representative of the uncertainty σiCompact set of boundaries), uiFor vehicle driving force or braking force input, MiIs the mass of the vehicle, -civi(t)|vi(t) | is the aerodynamic resistance of the vehicle during travel, -FiThe rolling resistance, the gravity resistance and other external resistance are combined.
Referring to fig. 7, fig. 7 shows that the vehicle system function includes an uncertainty parameter, and the vehicle system function is input to the driving force control model according to the embodiment of the present application, including the following steps:
701, decomposing the uncertainty parameters into nominal parameters and time-varying parameters according to the uncertainty parameters in the vehicle system functions to obtain a plurality of parameter equations, wherein the uncertainty parameters comprise: vehicle mass, vehicle aerodynamic drag coefficient, and vehicle integrated drag.
And step 703, inputting the vehicle time-varying system function into the driving force control model.
In practice, the vehicle system function includes uncertainty parameters, specifically: vehicle mass, vehicle aerodynamic drag coefficient, and vehicle integrated drag. In order to solve the influence of parameter uncertainty in a system model on final driving force, parameters containing uncertainty are decomposed into a nominal parameter part and a time-varying parameter part, and a plurality of parameter equations are obtained:
wherein the content of the first and second substances,
is the nominal parameter part, Δ Mi,Δci,ΔFiIs part of a time-varying parameter.
To simplify the expression, some equivalent variables are defined below:
substituting the parameter uncertainty decomposition expression and the symbol of the simplified expression into a vehicle system function to obtain a vehicle time-varying system function, and inputting the vehicle time-varying system function into a preset driving force control model:
in one embodiment, the creation process of the driving force control model includes: and establishing a driving force control model according to the vehicle time-varying system function, the Udwadia-Kalaba model, the feedback control model and the robust control model. The robust control model can inhibit the influence of the fluctuation of uncertain parameters on the driving force and can improve the control precision of the vehicle.
Specifically, the driving force control model is as follows:
ui＝pi,1+pi,2+pi,3；
wherein the content of the first and second substances,
wherein p isi,1,pi,2,pi,3Is the composition uiThe three parts of (1); h isiIs a positive constant;
this term reflects the current state of the system and the desired equality constraints
A distance of, i.e. beta i0 is our desired value, βiThe value of itself represents the difference from the expected value where beta is constrainediError z is 0iWill gradually converge to 0; kappaiIs a positive constant;
∏iare known, and are derived from the following two preconditions:
assume that 1:
for all (x)iT) is an element of R × R and all σiThere is a known constant
The following steps are performed:
assume 2:
for all
And all sigmaiThere is a known function Πi(·):R×R×R×R→R+And (2) making:
in addition to this, the present invention is,
μithe method specifically comprises the following steps:
wherein e isiIs a preset positive constant.
The driving force control model can realize ziConsistent and consistent final bounded performance, and ziThe consistent and final bounded performance of the method is equivalent to the distance error e of the front vehicle during state changeiStrictly at eminAnd emaxI.e. the inter-vehicle distance error eiThe driving force control model can control the vehicle to converge to the vicinity of the designed expected inter-vehicle distance at the appointed space position according to the designed expected inter-vehicle distance depending on the space position, so that the vehicle confluence safety is ensured, and the safety is greatly improved by binding with the static space position.
Wherein z isiConsistent and consistent final bounded performance of (a) may be demonstrated by a Lyapunov function
And (6) deriving.
Simulation verification is carried out on the method provided by the application, the set scene is 30 extremely working conditions, 15 vehicles are arranged on the main road and the ramp respectively, a 30-vehicle virtual fleet can be formed, the distances between the vehicles in the same sequence on the two roads and the confluence point are the same, as shown in fig. 8, the positions x of the 1 st vehicle on the main road and the 1 st vehicle on the ramp are basically the same, and by analogy, the positions of the 15 th vehicle on the main road and the 15 th vehicle on the ramp are also basically the same. The merging point position is set to 1000 meters, and the expected safe vehicle distance d is arranged at the merging pointcSet to 20 meters and the initial speed of the vehicle to 20 m/s.
As shown in FIG. 9, it can be seen from the simulation results that the inter-vehicle distance of 30 vehicles in the virtual queue gradually approaches d in the merging processc20 m. The total distance error is shown in FIG. 10, which is the actual distance minus the desired distance
Maintaining the distance between the vehicles within-0.5-3 m, considering that the final expected distance between the vehicles at the confluence point is 20m,the error control effect can ensure the safety of confluence. As shown in fig. 11, the vehicle driving force u during the merging process does not reach the input saturation. The vehicle speed and acceleration changes are shown in fig. 12 and 13, respectively.
The embodiment of the application further provides a control method for vehicle confluence, and specifically, the method comprises the following steps:
(1) and acquiring real-time position information of the target vehicle.
(2) And the roadside intelligent equipment acquires the real-time position information of each vehicle on each lane in the road merging area.
(3) And the roadside intelligent equipment calculates the confluence distance between each vehicle and the confluence point according to the real-time position information of each vehicle and the position information of the confluence point.
(4) And the roadside intelligent equipment sequences all vehicles according to the sequence of the confluence distance from small to large to obtain the vehicle passing sequence.
(5) And receiving a vehicle passing sequence in the road merging area sent by the roadside intelligent equipment.
(6) And determining the previous vehicle according to the vehicle passing sequence.
(7) After the previous vehicle is determined, information broadcast by the previous vehicle is extracted from the information broadcast by each vehicle, and the information broadcast by the previous vehicle comprises real-time position information of the previous vehicle and the length of the body of the previous vehicle.
(8) And obtaining the real-time inter-vehicle distance according to the real-time position information of the previous vehicle, the length of the previous vehicle body and the real-time position information of the target vehicle.
(9) And acquiring the real-time expected distance between vehicles according to the real-time position information of the target vehicle and the pre-constructed expected distance between vehicles function.
(10) And calculating a real-time vehicle distance error value according to the real-time vehicle distance and the real-time expected vehicle distance.
(11) And carrying out bijection transformation on the real-time inter-vehicle distance error value to obtain an error state transformation equation.
(12) And determining a vehicle position equation of the target vehicle according to the error state change equation, the real-time position information of the previous vehicle, the real-time expected inter-vehicle distance and the length of the vehicle body of the previous vehicle.
(13) And obtaining a vehicle system function according to a vehicle position equation and a preset vehicle longitudinal dynamics equation.
(14) Decomposing the uncertainty parameters into nominal parameters and time-varying parameters according to the uncertainty parameters in the vehicle system functions to obtain a plurality of parameter equations, wherein the uncertainty parameters comprise: vehicle mass, vehicle aerodynamic drag coefficient, and vehicle integrated drag.
(15) And inputting the multiple parameter equations into a vehicle system function to obtain a vehicle time-varying system function.
(16) And inputting the vehicle time-varying system function into a driving force control model to obtain real-time driving force.
(17) And controlling the target vehicle to operate based on the real-time driving force so as to adjust the real-time inter-vehicle distance error value, wherein the adjusted real-time inter-vehicle distance error value is within a preset error range.
For the implementation processes of (1) to (17), reference may be specifically made to the description of the above embodiments, and the implementation principles and technical effects thereof are similar and will not be described herein again.
It should be understood that the steps in the above-described flowcharts are shown in order as indicated by the arrows, but the steps are not necessarily performed in order as indicated by the arrows. The steps are not performed in the exact order shown and described, and may be performed in other orders, unless explicitly stated otherwise. Moreover, at least a part of the steps of the above-mentioned flowcharts may include a plurality of steps or a plurality of stages, which are not necessarily performed at the same time, but may be performed at different times, and the order of performing the steps or the stages is not necessarily performed in sequence, but may be performed alternately or alternately with other steps or at least a part of the steps or the stages in other steps.
In one embodiment, as shown in fig. 14, there is provided a control apparatus of a vehicle merging, which is provided in a target vehicle located in a road merging area, the apparatus including: the system comprises a first acquisition module 11, a second acquisition module 12, a calculation module 13 and a control module 14;
the first obtaining module 11 is configured to obtain a real-time inter-vehicle distance between a target vehicle and a vehicle ahead of the target vehicle;
the second obtaining module 12 is used for obtaining a real-time expected vehicle-to-vehicle distance between the target vehicle and the previous vehicle;
the calculating module 13 is used for calculating a real-time vehicle distance error value according to the real-time vehicle distance and the real-time expected vehicle distance;
a first determination module 14 for determining a real-time driving force of the target vehicle based on the real-time inter-vehicle distance error value;
and the control module 15 is configured to control the target vehicle to operate based on the real-time driving force so as to adjust a real-time inter-vehicle distance error value, where the adjusted real-time inter-vehicle distance error value is within a preset error range.
In an embodiment, the first obtaining module 11 is specifically configured to: acquiring real-time position information of a target vehicle; acquiring real-time position information of a previous vehicle and the length of a vehicle body of the previous vehicle; and obtaining the real-time inter-vehicle distance according to the real-time position information of the previous vehicle, the length of the previous vehicle body and the real-time position information of the target vehicle.
In one embodiment, the apparatus further comprises: the receiving module 16 and the second determining module 17 are configured to, before the real-time position information of the previous vehicle and the length of the vehicle body of the previous vehicle are acquired, receive a vehicle passing sequence in the road merging area sent by the roadside intelligent device by the receiving module 16. A determination module 16, configured to determine a previous vehicle according to a vehicle passing sequence; correspondingly, the first obtaining module 11 is further configured to: after the previous vehicle is determined, information broadcast by the previous vehicle is extracted from the information broadcast by each vehicle, and the information broadcast by the previous vehicle comprises real-time position information of the previous vehicle and the length of the body of the previous vehicle.
In one embodiment, the roadside intelligent device acquires real-time position information of each vehicle on each lane in a road merging area; calculating the confluence distance between each vehicle and the confluence point by the roadside intelligent equipment according to the real-time position information of each vehicle and the position information of the confluence point; and the roadside intelligent equipment sequences all vehicles according to the sequence of the confluence distance from small to large to obtain the vehicle passing sequence.
In an embodiment, the second obtaining module 12 is specifically configured to: and acquiring the real-time expected distance between vehicles according to the real-time position information of the target vehicle and the pre-constructed expected distance between vehicles function.
In one embodiment, the roadway merging region includes a start boundary and a merging point, the apparatus further includes a construction module 18, the construction module 18 being configured to:
acquiring position information of a starting boundary and position information of a confluence point;
constructing an expected inter-vehicle distance function according to the position information of the initial boundary, the position information of the confluence point and a preset expected inter-vehicle distance value;
or constructing an expected inter-vehicle distance function according to the position information of the starting boundary, the position information of the confluence point, the actual inter-vehicle distance of the target vehicle on the starting boundary and a preset expected inter-vehicle distance value.
In one embodiment, the first determining module 14 is specifically configured to: and inputting the real-time inter-vehicle distance error value into a pre-established driving force control model to obtain real-time driving force.
In one embodiment, the first determination module 14 is further configured to: bijective transformation is carried out on the real-time inter-vehicle distance error value to obtain an error state transformation equation; determining a vehicle position equation of the target vehicle according to the error state change equation, the real-time position information of the previous vehicle, the real-time expected inter-vehicle distance and the length of the vehicle body of the previous vehicle; obtaining a vehicle system function according to a vehicle position equation and a preset vehicle longitudinal dynamics equation; the vehicle system function is input to the driving force control model.
In one embodiment, the first determination module 14 is further configured to: decomposing the uncertainty parameters into nominal parameters and time-varying parameters according to the uncertainty parameters in the vehicle system functions to obtain a plurality of parameter equations, wherein the uncertainty parameters comprise: vehicle mass, vehicle aerodynamic drag coefficient, and vehicle integrated drag; inputting a plurality of parameter equations into a vehicle system function to obtain a vehicle time-varying system function; the vehicle time-varying system function is input to the driving force control model.
In one embodiment, build module 18 is further configured to: and establishing a driving force control model according to the vehicle time-varying system function, the Udwadia-Kalaba model, the feedback control model and the robust control model.
The control method for vehicle confluence provided by the embodiment of the application can be applied to the computer equipment shown in fig. 15. As shown in fig. 15, the computer apparatus includes a processor, a memory, a network interface, a display screen, and an input device, which are connected through a system bus. Wherein the processor of the computer device is configured to provide computing and control capabilities. The memory of the computer device comprises a nonvolatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of an operating system and computer programs in the non-volatile storage medium. The database of the computer device is used to store pipelines and pipeline attribute information. The network interface of the computer device is used for communicating with an external terminal through a network connection. The computer program is executed by a processor to implement a control method of vehicle merging.
The vehicle confluence control device provided by the present embodiment can execute the method embodiments, and the implementation principle and technical effect are similar, which are not described herein again.
For specific limitations of the vehicle confluence control device, reference may be made to the limitations of the vehicle confluence control method described above, and the description thereof is omitted. The various modules in the vehicle flow combining control device can be implemented in whole or in part by software, hardware, and combinations thereof. The modules can be embedded in a hardware form or independent from a processor in the computer device, and can also be stored in a memory in the computer device in a software form, so that the processor can call and execute operations corresponding to the modules.
In one embodiment, a computer device is provided, comprising a memory and a processor, the memory having a computer program stored therein, the processor implementing the following steps when executing the computer program: acquiring a real-time inter-vehicle distance between a target vehicle and a vehicle ahead of the target vehicle; acquiring a real-time expected vehicle distance between a target vehicle and a previous vehicle; calculating a real-time vehicle distance error value according to the real-time vehicle distance and the real-time expected vehicle distance; and determining the real-time driving force of the target vehicle according to the real-time inter-vehicle distance error value, and controlling the target vehicle to operate based on the real-time driving force so as to adjust the real-time inter-vehicle distance error value, wherein the adjusted real-time inter-vehicle distance error value is within a preset error range.
In one embodiment, the processor, when executing the computer program, performs the steps of: acquiring real-time position information of a target vehicle; acquiring real-time position information of a previous vehicle and the length of a vehicle body of the previous vehicle; and obtaining the real-time inter-vehicle distance according to the real-time position information of the previous vehicle, the length of the previous vehicle body and the real-time position information of the target vehicle.
In one embodiment, the processor, when executing the computer program, performs the steps of: receiving a vehicle passing sequence in a road merging area sent by roadside intelligent equipment; determining a previous vehicle according to the vehicle passing sequence; after the previous vehicle is determined, information broadcast by the previous vehicle is extracted from the information broadcast by each vehicle, and the information broadcast by the previous vehicle comprises real-time position information of the previous vehicle and the length of the body of the previous vehicle.
In one embodiment, the processor, when executing the computer program, performs the steps of: the method comprises the steps that roadside intelligent equipment obtains real-time position information of vehicles on lanes in a road merging area;
calculating the confluence distance between each vehicle and the confluence point by the roadside intelligent equipment according to the real-time position information of each vehicle and the position information of the confluence point;
and the roadside intelligent equipment sequences all vehicles according to the sequence of the confluence distance from small to large to obtain the vehicle passing sequence.
In one embodiment, the processor, when executing the computer program, performs the steps of: and acquiring the real-time expected distance between vehicles according to the real-time position information of the target vehicle and the pre-constructed expected distance between vehicles function.
In one embodiment, the processor, when executing the computer program, performs the steps of: acquiring position information of a starting boundary and position information of a confluence point;
constructing an expected inter-vehicle distance function according to the position information of the initial boundary, the position information of the confluence point and a preset expected inter-vehicle distance value;
or constructing an expected inter-vehicle distance function according to the position information of the starting boundary, the position information of the confluence point, the actual inter-vehicle distance of the target vehicle on the starting boundary and a preset expected inter-vehicle distance value.
In one embodiment, the processor, when executing the computer program, performs the steps of: and inputting the real-time inter-vehicle distance error value into a pre-established driving force control model to obtain real-time driving force.
In one embodiment, the processor, when executing the computer program, performs the steps of: bijective transformation is carried out on the real-time inter-vehicle distance error value to obtain an error state transformation equation; determining a vehicle position equation of the target vehicle according to the error state change equation, the real-time position information of the previous vehicle, the real-time expected inter-vehicle distance and the length of the vehicle body of the previous vehicle; obtaining a vehicle system function according to a vehicle position equation and a preset vehicle longitudinal dynamics equation; the vehicle system function is input to the driving force control model.
In one embodiment, the processor, when executing the computer program, performs the steps of: decomposing the uncertainty parameters into nominal parameters and time-varying parameters according to the uncertainty parameters in the vehicle system functions to obtain a plurality of parameter equations, wherein the uncertainty parameters comprise: vehicle mass, vehicle aerodynamic drag coefficient, and vehicle integrated drag; inputting a plurality of parameter equations into a vehicle system function to obtain a vehicle time-varying system function; the vehicle time-varying system function is input to the driving force control model.
In one embodiment, the processor, when executing the computer program, performs the steps of: and establishing a driving force control model according to the vehicle time-varying system function, the Udwadia-Kalaba model, the feedback control model and the robust control model.
The implementation principle and technical effect of the computer device provided in this embodiment are similar to those of the method embodiments described above, and are not described herein again.
In an embodiment of the application, a computer-readable storage medium is provided, on which a computer program is stored, which computer program, when being executed by a processor, carries out the steps of: acquiring a real-time inter-vehicle distance between a target vehicle and a vehicle ahead of the target vehicle; acquiring a real-time expected vehicle distance between a target vehicle and a previous vehicle; calculating a real-time vehicle distance error value according to the real-time vehicle distance and the real-time expected vehicle distance; and determining the real-time driving force of the target vehicle according to the real-time inter-vehicle distance error value, and controlling the target vehicle to operate based on the real-time driving force so as to adjust the real-time inter-vehicle distance error value, wherein the adjusted real-time inter-vehicle distance error value is within a preset error range.
In one embodiment, the computer program when executed by the processor implements the steps of: acquiring real-time position information of a target vehicle; acquiring real-time position information of a previous vehicle and the length of a vehicle body of the previous vehicle; and obtaining the real-time inter-vehicle distance according to the real-time position information of the previous vehicle, the length of the previous vehicle body and the real-time position information of the target vehicle.
In one embodiment, the computer program when executed by the processor implements the steps of: receiving a vehicle passing sequence in a road merging area sent by roadside intelligent equipment; determining a previous vehicle according to the vehicle passing sequence; after the previous vehicle is determined, information broadcast by the previous vehicle is extracted from the information broadcast by each vehicle, and the information broadcast by the previous vehicle comprises real-time position information of the previous vehicle and the length of the body of the previous vehicle.
In one embodiment, the computer program when executed by the processor implements the steps of: the method comprises the steps that roadside intelligent equipment obtains real-time position information of vehicles on lanes in a road merging area;
calculating the confluence distance between each vehicle and the confluence point by the roadside intelligent equipment according to the real-time position information of each vehicle and the position information of the confluence point;
and the roadside intelligent equipment sequences all vehicles according to the sequence of the confluence distance from small to large to obtain the vehicle passing sequence.
In one embodiment, the computer program when executed by the processor implements the steps of: and acquiring the real-time expected distance between vehicles according to the real-time position information of the target vehicle and the pre-constructed expected distance between vehicles function.
In one embodiment, the computer program when executed by the processor implements the steps of: acquiring position information of a starting boundary and position information of a confluence point;
constructing an expected inter-vehicle distance function according to the position information of the initial boundary, the position information of the confluence point and a preset expected inter-vehicle distance value;
or constructing an expected inter-vehicle distance function according to the position information of the starting boundary, the position information of the confluence point, the actual inter-vehicle distance of the target vehicle on the starting boundary and a preset expected inter-vehicle distance value.
In one embodiment, the computer program when executed by the processor implements the steps of: and inputting the real-time inter-vehicle distance error value into a pre-established driving force control model to obtain real-time driving force.
In one embodiment, the computer program when executed by the processor implements the steps of: bijective transformation is carried out on the real-time inter-vehicle distance error value to obtain an error state transformation equation; determining a vehicle position equation of the target vehicle according to the error state change equation, the real-time position information of the previous vehicle, the real-time expected inter-vehicle distance and the length of the vehicle body of the previous vehicle; obtaining a vehicle system function according to a vehicle position equation and a preset vehicle longitudinal dynamics equation; the vehicle system function is input to the driving force control model.
In one embodiment, the computer program when executed by the processor implements the steps of: decomposing the uncertainty parameters into nominal parameters and time-varying parameters according to the uncertainty parameters in the vehicle system functions to obtain a plurality of parameter equations, wherein the uncertainty parameters comprise: vehicle mass, vehicle aerodynamic drag coefficient, and vehicle integrated drag; inputting a plurality of parameter equations into a vehicle system function to obtain a vehicle time-varying system function; the vehicle time-varying system function is input to the driving force control model.
In one embodiment, the computer program when executed by the processor implements the steps of: and establishing a driving force control model according to the vehicle time-varying system function, the Udwadia-Kalaba model, the feedback control model and the robust control model.
The implementation principle and technical effect of the computer-readable storage medium provided by this embodiment are similar to those of the above-described method embodiment, and are not described herein again.
It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by hardware instructions of a computer program, which can be stored in a non-volatile computer-readable storage medium, and when executed, can include the processes of the embodiments of the methods described above. Any reference to memory, storage, database, or other medium used in the embodiments provided herein may include non-volatile and/or volatile memory, among others. Non-volatile memory can include read-only memory (ROM), Programmable ROM (PROM), Electrically Programmable ROM (EPROM), Electrically Erasable Programmable ROM (EEPROM), or flash memory. Volatile memory can include Random Access Memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in M forms, such as Static RAM (SRAM), Dynamic RAM (DRAM), Synchronous DRAM (SDRAM), Double Data Rate SDRAM (DDRSDRAM), Enhanced SDRAM (ESDRAM), synchronous Link (SyMchliMk) DRAM (SLDRAM), RaMbus (RaMbus) direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM).
The technical features of the embodiments described above may be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the embodiments described above are not described, but should be considered as being within the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The above-mentioned embodiments only express several embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (10)
1. A control method of vehicle merging, for use in a target vehicle located within a road merging area, the method comprising:
acquiring a real-time inter-vehicle distance between the target vehicle and a vehicle ahead of the target vehicle;
acquiring a real-time expected vehicle distance between the target vehicle and the previous vehicle;
calculating a real-time vehicle distance error value according to the real-time vehicle distance and the real-time expected vehicle distance;
and determining the real-time driving force of the target vehicle according to the real-time inter-vehicle distance error value, and controlling the target vehicle to operate based on the real-time driving force so as to adjust the real-time inter-vehicle distance error value, wherein the adjusted real-time inter-vehicle distance error value is within a preset error range.
2. The method of claim 1, wherein the obtaining a real-time inter-vehicle distance of the target vehicle and a vehicle preceding the target vehicle comprises:
acquiring real-time position information of the target vehicle;
acquiring real-time position information of the previous vehicle and the length of the vehicle body of the previous vehicle;
and obtaining the real-time inter-vehicle distance according to the real-time position information of the previous vehicle, the length of the previous vehicle and the real-time position information of the target vehicle.
3. The method of claim 1, wherein the obtaining a real-time desired inter-vehicle distance of the target vehicle and the preceding vehicle comprises:
and acquiring the real-time expected vehicle distance according to the real-time position information of the target vehicle and a pre-constructed expected vehicle distance function.
4. The method of claim 3, wherein the road merge area comprises a start boundary and a merge point, and the desired inter-vehicle distance function is constructed by:
acquiring the position information of the starting boundary and the position information of the confluence point;
constructing the expected inter-vehicle distance function according to the position information of the starting boundary, the position information of the confluence point and a preset expected inter-vehicle distance value of confluence;
or constructing the expected inter-vehicle distance function according to the position information of the starting boundary, the position information of the confluence point, the actual inter-vehicle distance of the target vehicle on the starting boundary and the confluence expected inter-vehicle distance value.
5. The method of claim 1, wherein determining the real-time driving force of the target vehicle from the real-time inter-vehicle distance error value comprises:
and inputting the real-time inter-vehicle distance error value into a pre-established driving force control model to obtain the real-time driving force.
6. The method of claim 5, wherein the inputting the real-time inter-vehicle distance error value to a pre-created drive force control model comprises:
bijective transformation is carried out on the real-time inter-vehicle distance error value to obtain an error state transformation equation;
determining a vehicle position equation of the target vehicle according to the error state change equation, the real-time position information of the previous vehicle, the real-time expected inter-vehicle distance and the length of the body of the previous vehicle;
obtaining a vehicle system function according to the vehicle position equation and a preset vehicle longitudinal dynamics equation;
inputting the vehicle system function to the driving force control model.
7. The method of claim 6, wherein the vehicle system function including an uncertainty parameter, the inputting the vehicle system function to the driving force control model, comprises:
decomposing the uncertainty parameters into nominal parameters and time-varying parameters for the uncertainty parameters in the vehicle system functions to obtain a plurality of parameter equations, the uncertainty parameters comprising: vehicle mass, vehicle aerodynamic drag coefficient, and vehicle integrated drag;
inputting the parameter equations into the vehicle system function to obtain a vehicle time-varying system function;
inputting the vehicle time-varying system function to the driving force control model.
8. A control apparatus of a vehicle joining flow, characterized by comprising:
the first acquisition module is used for acquiring the real-time inter-vehicle distance between the target vehicle and a vehicle before the target vehicle;
the second acquisition module is used for acquiring the real-time expected vehicle-to-vehicle distance between the target vehicle and the previous vehicle;
the calculation module is used for calculating a real-time vehicle distance error value according to the real-time vehicle distance and the real-time expected vehicle distance;
and the control module is used for determining the real-time driving force of the target vehicle according to the real-time inter-vehicle distance error value and controlling the target vehicle to run based on the real-time driving force so as to adjust the real-time inter-vehicle distance error value, wherein the adjusted real-time inter-vehicle distance error value is within a preset error range.
9. A computer apparatus characterized by comprising a memory and a processor, the memory storing a computer program that, when executed by the processor, implements a control method of vehicle merging as set forth in any one of claims 1 to 7.
10. A computer-readable storage medium, characterized in that a computer program is stored thereon, which when executed by a processor, implements the control method of vehicle joining according to any one of claims 1 to 7.
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